Self-Driving Car Engineer Nanodegree

Deep Learning

Project: Build a Traffic Sign Recognition Classifier

In this notebook, a template is provided for you to implement your functionality in stages, which is required to successfully complete this project. If additional code is required that cannot be included in the notebook, be sure that the Python code is successfully imported and included in your submission if necessary.

Note: Once you have completed all of the code implementations, you need to finalize your work by exporting the iPython Notebook as an HTML document. Before exporting the notebook to html, all of the code cells need to have been run so that reviewers can see the final implementation and output. You can then export the notebook by using the menu above and navigating to \n", "File -> Download as -> HTML (.html). Include the finished document along with this notebook as your submission.

In addition to implementing code, there is a writeup to complete. The writeup should be completed in a separate file, which can be either a markdown file or a pdf document. There is a write up template that can be used to guide the writing process. Completing the code template and writeup template will cover all of the rubric points for this project.

The rubric contains "Stand Out Suggestions" for enhancing the project beyond the minimum requirements. The stand out suggestions are optional. If you decide to pursue the "stand out suggestions", you can include the code in this Ipython notebook and also discuss the results in the writeup file.

Note: Code and Markdown cells can be executed using the Shift + Enter keyboard shortcut. In addition, Markdown cells can be edited by typically double-clicking the cell to enter edit mode.


Step 0: Load The Data

In [1]:
# Load pickled data
import pickle

# TODO: Fill this in based on where you saved the training and testing data

training_file = 'traffic-signs-data/train.p'
validation_file='traffic-signs-data/valid.p'
testing_file = 'traffic-signs-data/test.p'

with open(training_file, mode='rb') as f:
    train = pickle.load(f)
with open(validation_file, mode='rb') as f:
    valid = pickle.load(f)
with open(testing_file, mode='rb') as f:
    test = pickle.load(f)
    
X_train_orig, y_train_orig = train['features'], train['labels']
X_valid_orig, y_valid_orig = valid['features'], valid['labels']
X_test_orig, y_test_orig = test['features'], test['labels']

Step 1: Dataset Summary & Exploration

The pickled data is a dictionary with 4 key/value pairs:

  • 'features' is a 4D array containing raw pixel data of the traffic sign images, (num examples, width, height, channels).
  • 'labels' is a 1D array containing the label/class id of the traffic sign. The file signnames.csv contains id -> name mappings for each id.
  • 'sizes' is a list containing tuples, (width, height) representing the original width and height the image.
  • 'coords' is a list containing tuples, (x1, y1, x2, y2) representing coordinates of a bounding box around the sign in the image. THESE COORDINATES ASSUME THE ORIGINAL IMAGE. THE PICKLED DATA CONTAINS RESIZED VERSIONS (32 by 32) OF THESE IMAGES

Complete the basic data summary below. Use python, numpy and/or pandas methods to calculate the data summary rather than hard coding the results. For example, the pandas shape method might be useful for calculating some of the summary results.

Provide a Basic Summary of the Data Set Using Python, Numpy and/or Pandas

In [2]:
### Replace each question mark with the appropriate value. 
### Use python, pandas or numpy methods rather than hard coding the results

# TODO: Number of training examples
n_train = len(X_train_orig)

# TODO: Number of validation examples
n_validation = len(X_valid_orig)

# TODO: Number of testing examples.
n_test = len(X_test_orig)

# TODO: What's the shape of an traffic sign image?
image_shape = X_train_orig[0].shape

# TODO: How many unique classes/labels there are in the dataset.
n_classes = len(set(y_train_orig))

print("Number of training examples =", n_train)
print("Number of validation examples =", n_validation)
print("Number of testing examples =", n_test)
print("Image data shape =", image_shape)
print("Number of classes =", n_classes)
Number of training examples = 34799
Number of validation examples = 4410
Number of testing examples = 12630
Image data shape = (32, 32, 3)
Number of classes = 43

Include an exploratory visualization of the dataset

Visualize the German Traffic Signs Dataset using the pickled file(s). This is open ended, suggestions include: plotting traffic sign images, plotting the count of each sign, etc.

The Matplotlib examples and gallery pages are a great resource for doing visualizations in Python.

NOTE: It's recommended you start with something simple first. If you wish to do more, come back to it after you've completed the rest of the sections. It can be interesting to look at the distribution of classes in the training, validation and test set. Is the distribution the same? Are there more examples of some classes than others?

In [3]:
### Data exploration visualization code goes here.
### Feel free to use as many code cells as needed.
import matplotlib.pyplot as plt
import numpy as np
import pandas as pd
import random
# Visualizations will be shown in the notebook.
%matplotlib inline

sign_names = pd.read_csv('./signnames.csv')
number_of_samples = np.bincount(y_train_orig)

plt.rcdefaults()
fig, ax = plt.subplots()

# Example data
y_pos = np.arange(len(sign_names.SignName))

ax.barh(y_pos, number_of_samples, align='center', color='green')
ax.set_yticks(y_pos)
ax.set_yticklabels(sign_names.SignName, fontsize=6)
ax.invert_yaxis()  # labels read top-to-bottom
ax.set_xlabel('Number of Samples')
ax.set_ylabel('Signs')
ax.set_title('Training Data Distribution')

plt.show()
In [4]:
def plot_signs(X, y, cmap=None):
    examples_per_sign = 10
    number_of_samples = np.bincount(y)
    sign_names = pd.read_csv('./signnames.csv').values
    for sign in sign_names:
        print("{0}. {1} - Number of examples: {2}".format(sign[0], sign[1], number_of_samples[sign[0]]))
        sample_indices = np.where(y==sign[0])[0]
        random_samples = random.sample(list(sample_indices), examples_per_sign)
        fig = plt.figure(figsize = (examples_per_sign, 1))
        fig.subplots_adjust(hspace = 0, wspace = 0)
        for i in range(examples_per_sign):
            image = X[random_samples[i]]
            axis = fig.add_subplot(1,examples_per_sign, i+1, xticks=[], yticks=[])
            if cmap == None: axis.imshow(image)
            else: axis.imshow(image.squeeze(), cmap=cmap)
        plt.show()
In [5]:
plot_signs(X_train_orig, y_train_orig)
# plot_signs(X_valid_orig, y_valid_orig)
# plot_signs(X_test_orig, y_test_orig)
0. Speed limit (20km/h) - Number of examples: 180
1. Speed limit (30km/h) - Number of examples: 1980
2. Speed limit (50km/h) - Number of examples: 2010
3. Speed limit (60km/h) - Number of examples: 1260
4. Speed limit (70km/h) - Number of examples: 1770
5. Speed limit (80km/h) - Number of examples: 1650
6. End of speed limit (80km/h) - Number of examples: 360
7. Speed limit (100km/h) - Number of examples: 1290
8. Speed limit (120km/h) - Number of examples: 1260
9. No passing - Number of examples: 1320
10. No passing for vehicles over 3.5 metric tons - Number of examples: 1800
11. Right-of-way at the next intersection - Number of examples: 1170
12. Priority road - Number of examples: 1890
13. Yield - Number of examples: 1920
14. Stop - Number of examples: 690
15. No vehicles - Number of examples: 540
16. Vehicles over 3.5 metric tons prohibited - Number of examples: 360
17. No entry - Number of examples: 990
18. General caution - Number of examples: 1080
19. Dangerous curve to the left - Number of examples: 180
20. Dangerous curve to the right - Number of examples: 300
21. Double curve - Number of examples: 270
22. Bumpy road - Number of examples: 330
23. Slippery road - Number of examples: 450
24. Road narrows on the right - Number of examples: 240
25. Road work - Number of examples: 1350
26. Traffic signals - Number of examples: 540
27. Pedestrians - Number of examples: 210
28. Children crossing - Number of examples: 480
29. Bicycles crossing - Number of examples: 240
30. Beware of ice/snow - Number of examples: 390
31. Wild animals crossing - Number of examples: 690
32. End of all speed and passing limits - Number of examples: 210
33. Turn right ahead - Number of examples: 599
34. Turn left ahead - Number of examples: 360
35. Ahead only - Number of examples: 1080
36. Go straight or right - Number of examples: 330
37. Go straight or left - Number of examples: 180
38. Keep right - Number of examples: 1860
39. Keep left - Number of examples: 270
40. Roundabout mandatory - Number of examples: 300
41. End of no passing - Number of examples: 210
42. End of no passing by vehicles over 3.5 metric tons - Number of examples: 210
----

Step 2: Design and Test a Model Architecture

Design and implement a deep learning model that learns to recognize traffic signs. Train and test your model on the German Traffic Sign Dataset.

The LeNet-5 implementation shown in the classroom at the end of the CNN lesson is a solid starting point. You'll have to change the number of classes and possibly the preprocessing, but aside from that it's plug and play!

With the LeNet-5 solution from the lecture, you should expect a validation set accuracy of about 0.89. To meet specifications, the validation set accuracy will need to be at least 0.93. It is possible to get an even higher accuracy, but 0.93 is the minimum for a successful project submission.

There are various aspects to consider when thinking about this problem:

  • Neural network architecture (is the network over or underfitting?)
  • Play around preprocessing techniques (normalization, rgb to grayscale, etc)
  • Number of examples per label (some have more than others).
  • Generate fake data.

Here is an example of a published baseline model on this problem. It's not required to be familiar with the approach used in the paper but, it's good practice to try to read papers like these.

Pre-process the Data Set (normalization, grayscale, etc.)

Minimally, the image data should be normalized so that the data has mean zero and equal variance. For image data, (pixel - 128)/ 128 is a quick way to approximately normalize the data and can be used in this project.

Other pre-processing steps are optional. You can try different techniques to see if it improves performance.

Use the code cell (or multiple code cells, if necessary) to implement the first step of your project.

In [6]:
### Preprocess the data here. It is required to normalize the data. Other preprocessing steps could include 
### converting to grayscale, etc.
### Feel free to use as many code cells as needed.
import cv2

def blur(img):
    return cv2.GaussianBlur(img, (3, 5), 0)

def grayscale(img):
    return cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)

def rotate(img, angle):
    row, col, channel = img.shape

    rotation_point = (row / 2, col / 2)
    rotation_matrix = cv2.getRotationMatrix2D(rotation_point, angle, 1)

    rotated_img = cv2.warpAffine(img, rotation_matrix, (col, row))
    return rotated_img

def brightness(img, gamma):
    invGamma = 1.0 / gamma
    table = np.array([((i / 255.0) ** invGamma) * 255 for i in np.arange(0, 256)]).astype("uint8")
    darkened_img = cv2.LUT(img, table)
    return darkened_img
    
def normalize_image(img):
    return img / 255

def pre_process_images(images):
    ret_array = []
    for img in images:
        ret_array.append(normalize_image(grayscale(img)))
    return np.expand_dims(ret_array, axis=3)
In [7]:
img = X_train_orig[10000]
print ('Original:')
plt.imshow(img.squeeze())
plt.show()
print ('Grayscale:')
img_gray = grayscale(img)
plt.imshow(img_gray.squeeze(), cmap='gray')
plt.show()
print ('Blur:')
img_blur = blur(img)
plt.imshow(img_blur.squeeze())
plt.show()
print ('Rotate:')
img_rotate = rotate(img, 15)
plt.imshow(img_rotate.squeeze())
plt.show()
print ('Darken:')
img_darken = brightness(img, 0.3)
plt.imshow(img_darken.squeeze())
plt.show()
print ('Brighten:')
img_brighten = brightness(img, 1.5)
plt.imshow(img_brighten.squeeze())
plt.show()
Original:
Grayscale:
Blur:
Rotate:
Darken:
Brighten:
In [8]:
X_train_blur = []
for img in X_train_orig:
    X_train_blur.append(blur(img))
X_train_rotate_left = []
for img in X_train_orig:
    X_train_rotate_left.append(rotate(img, np.random.uniform(-15, -5)))
X_train_rotate_right = []
for img in X_train_orig:
    X_train_rotate_right.append(rotate(img, np.random.uniform(5, 15)))
X_train_darken = []
for img in X_train_orig:
    X_train_darken.append(brightness(img, np.random.uniform(0.3, 0.7)))
X_train_brighten = []
for img in X_train_orig:
    X_train_brighten.append(brightness(img, np.random.uniform(1.2, 1.5)))

X_train = np.concatenate([pre_process_images(X_train_orig), pre_process_images(X_train_blur), pre_process_images(X_train_rotate_left), pre_process_images(X_train_rotate_right), pre_process_images(X_train_darken), pre_process_images(X_train_brighten)])
y_train = np.concatenate([y_train_orig, y_train_orig, y_train_orig, y_train_orig, y_train_orig, y_train_orig])
X_valid = pre_process_images(X_valid_orig)
X_test = pre_process_images(X_test_orig)
In [9]:
plot_signs(X_train, y_train, cmap='gray')
0. Speed limit (20km/h) - Number of examples: 1080
1. Speed limit (30km/h) - Number of examples: 11880
2. Speed limit (50km/h) - Number of examples: 12060
3. Speed limit (60km/h) - Number of examples: 7560
4. Speed limit (70km/h) - Number of examples: 10620
5. Speed limit (80km/h) - Number of examples: 9900
6. End of speed limit (80km/h) - Number of examples: 2160
7. Speed limit (100km/h) - Number of examples: 7740
8. Speed limit (120km/h) - Number of examples: 7560
9. No passing - Number of examples: 7920
10. No passing for vehicles over 3.5 metric tons - Number of examples: 10800
11. Right-of-way at the next intersection - Number of examples: 7020
12. Priority road - Number of examples: 11340
13. Yield - Number of examples: 11520
14. Stop - Number of examples: 4140
15. No vehicles - Number of examples: 3240
16. Vehicles over 3.5 metric tons prohibited - Number of examples: 2160
17. No entry - Number of examples: 5940
18. General caution - Number of examples: 6480
19. Dangerous curve to the left - Number of examples: 1080
20. Dangerous curve to the right - Number of examples: 1800
21. Double curve - Number of examples: 1620
22. Bumpy road - Number of examples: 1980
23. Slippery road - Number of examples: 2700
24. Road narrows on the right - Number of examples: 1440
25. Road work - Number of examples: 8100
26. Traffic signals - Number of examples: 3240
27. Pedestrians - Number of examples: 1260
28. Children crossing - Number of examples: 2880
29. Bicycles crossing - Number of examples: 1440
30. Beware of ice/snow - Number of examples: 2340
31. Wild animals crossing - Number of examples: 4140
32. End of all speed and passing limits - Number of examples: 1260
33. Turn right ahead - Number of examples: 3594
34. Turn left ahead - Number of examples: 2160
35. Ahead only - Number of examples: 6480
36. Go straight or right - Number of examples: 1980
37. Go straight or left - Number of examples: 1080
38. Keep right - Number of examples: 11160
39. Keep left - Number of examples: 1620
40. Roundabout mandatory - Number of examples: 1800
41. End of no passing - Number of examples: 1260
42. End of no passing by vehicles over 3.5 metric tons - Number of examples: 1260

Model Architecture

In [10]:
### Define your architecture here.
### Feel free to use as many code cells as needed.

import tensorflow as tf

BATCH_SIZE = 128

from tensorflow.contrib.layers import flatten

def TscNet(x):    
    mu = 0
    sigma = 0.1
    
    # Layer 1: Convolutional. Input = 32x32x1. Output = 28x28x6.
    conv1_W = tf.Variable(tf.truncated_normal(shape=(5, 5, 1, 6), mean = mu, stddev = sigma))
    conv1_b = tf.Variable(tf.zeros(6))
    conv1   = tf.nn.conv2d(x, conv1_W, strides=[1, 1, 1, 1], padding='VALID') + conv1_b

    # Activation.
    conv1 = tf.nn.relu(conv1)
#     conv1 = tf.nn.dropout(conv1, 0.8)

    # Max Pooling. Input = 28x28x6. Output = 14x14x6.
    conv1 = tf.nn.max_pool(conv1, ksize=[1, 2, 2, 1], strides=[1, 2, 2, 1], padding='VALID')

    # Layer 2: Convolutional. Output = 10x10x16.
    conv2_W = tf.Variable(tf.truncated_normal(shape=(5, 5, 6, 16), mean = mu, stddev = sigma))
    conv2_b = tf.Variable(tf.zeros(16))
    conv2   = tf.nn.conv2d(conv1, conv2_W, strides=[1, 1, 1, 1], padding='VALID') + conv2_b
    
    # Activation.
    conv2 = tf.nn.relu(conv2)

    # Max Pooling. Input = 10x10x16. Output = 5x5x16.
    conv2 = tf.nn.max_pool(conv2, ksize=[1, 2, 2, 1], strides=[1, 2, 2, 1], padding='VALID')

    # Flatten. Input = 5x5x16. Output = 400.
    fc0   = flatten(conv2)
    
    # Layer 3: Fully Connected. Input = 400. Output = 120.
    fc1_W = tf.Variable(tf.truncated_normal(shape=(400, 120), mean = mu, stddev = sigma))
    fc1_b = tf.Variable(tf.zeros(120))
    fc1   = tf.matmul(fc0, fc1_W) + fc1_b
    
    # Activation.
    fc1    = tf.nn.relu(fc1)

    # Layer 4: Fully Connected. Input = 120. Output = 84.
    fc2_W  = tf.Variable(tf.truncated_normal(shape=(120, 84), mean = mu, stddev = sigma))
    fc2_b  = tf.Variable(tf.zeros(84))
    fc2    = tf.matmul(fc1, fc2_W) + fc2_b
    
    # Activation.
    fc2    = tf.nn.relu(fc2)

    # Layer 5: Fully Connected. Input = 84. Output = 43.
    fc3_W  = tf.Variable(tf.truncated_normal(shape=(84, 43), mean = mu, stddev = sigma))
    fc3_b  = tf.Variable(tf.zeros(43))
    logits = tf.matmul(fc2, fc3_W) + fc3_b
    
    return logits

Features and Labels

In [11]:
x = tf.placeholder(tf.float32, (None, 32, 32, 1))
y = tf.placeholder(tf.int32, (None))
one_hot_y = tf.one_hot(y, 43)

Training Pipeline

In [12]:
rate = 0.001

logits = TscNet(x)
cross_entropy = tf.nn.softmax_cross_entropy_with_logits(labels=one_hot_y, logits=logits)
loss_operation = tf.reduce_mean(cross_entropy)
optimizer = tf.train.AdamOptimizer(learning_rate = rate)
training_operation = optimizer.minimize(loss_operation)

Model Evaluation

In [13]:
correct_prediction = tf.equal(tf.argmax(logits, 1), tf.argmax(one_hot_y, 1))
accuracy_operation = tf.reduce_mean(tf.cast(correct_prediction, tf.float32))
saver = tf.train.Saver()

def evaluate(X_data, y_data):
    num_examples = len(X_data)
    total_accuracy = 0
    sess = tf.get_default_session()
    for offset in range(0, num_examples, BATCH_SIZE):
        batch_x, batch_y = X_data[offset:offset+BATCH_SIZE], y_data[offset:offset+BATCH_SIZE]
        accuracy = sess.run(accuracy_operation, feed_dict={x: batch_x, y: batch_y})
        total_accuracy += (accuracy * len(batch_x))
    return total_accuracy / num_examples

Train, Validate and Test the Model

A validation set can be used to assess how well the model is performing. A low accuracy on the training and validation sets imply underfitting. A high accuracy on the training set but low accuracy on the validation set implies overfitting.

In [14]:
### Train your model here.
### Calculate and report the accuracy on the training and validation set.
### Once a final model architecture is selected, 
### the accuracy on the test set should be calculated and reported as well.
### Feel free to use as many code cells as needed.

from sklearn.utils import shuffle

EPOCHS = 20

with tf.Session() as sess:
    sess.run(tf.global_variables_initializer())
    num_examples = len(X_train)
    
    print("Training...")
    print()
    for i in range(EPOCHS):
        X_train, y_train = shuffle(X_train, y_train)
        for offset in range(0, num_examples, BATCH_SIZE):
            end = offset + BATCH_SIZE
            batch_x, batch_y = X_train[offset:end], y_train[offset:end]
            sess.run(training_operation, feed_dict={x: batch_x, y: batch_y})
            
        training_accuracy = evaluate(X_train, y_train)
        validation_accuracy = evaluate(X_valid, y_valid_orig)
        print("EPOCH {} ...".format(i+1))
        print("Training Accuracy = {:.3f}".format(training_accuracy))
        print("Validation Accuracy = {:.3f}".format(validation_accuracy))
        print()
        
    saver.save(sess, './tscnet')
    print("Model saved")
Training...

EPOCH 1 ...
Training Accuracy = 0.927
Validation Accuracy = 0.863

EPOCH 2 ...
Training Accuracy = 0.972
Validation Accuracy = 0.910

EPOCH 3 ...
Training Accuracy = 0.977
Validation Accuracy = 0.929

EPOCH 4 ...
Training Accuracy = 0.982
Validation Accuracy = 0.928

EPOCH 5 ...
Training Accuracy = 0.984
Validation Accuracy = 0.938

EPOCH 6 ...
Training Accuracy = 0.989
Validation Accuracy = 0.933

EPOCH 7 ...
Training Accuracy = 0.991
Validation Accuracy = 0.939

EPOCH 8 ...
Training Accuracy = 0.994
Validation Accuracy = 0.944

EPOCH 9 ...
Training Accuracy = 0.992
Validation Accuracy = 0.941

EPOCH 10 ...
Training Accuracy = 0.994
Validation Accuracy = 0.948

EPOCH 11 ...
Training Accuracy = 0.995
Validation Accuracy = 0.951

EPOCH 12 ...
Training Accuracy = 0.993
Validation Accuracy = 0.942

EPOCH 13 ...
Training Accuracy = 0.994
Validation Accuracy = 0.942

EPOCH 14 ...
Training Accuracy = 0.994
Validation Accuracy = 0.946

EPOCH 15 ...
Training Accuracy = 0.994
Validation Accuracy = 0.952

EPOCH 16 ...
Training Accuracy = 0.991
Validation Accuracy = 0.941

EPOCH 17 ...
Training Accuracy = 0.996
Validation Accuracy = 0.946

EPOCH 18 ...
Training Accuracy = 0.996
Validation Accuracy = 0.946

EPOCH 19 ...
Training Accuracy = 0.996
Validation Accuracy = 0.947

EPOCH 20 ...
Training Accuracy = 0.994
Validation Accuracy = 0.947

Model saved
In [15]:
with tf.Session() as sess:
    new_saver = tf.train.import_meta_graph('tscnet.meta')
    new_saver.restore(sess, tf.train.latest_checkpoint('./'))
    
    test_accuracy = evaluate(X_test, y_test_orig)
    print("Test Accuracy = {:.3f}".format(test_accuracy))
Test Accuracy = 0.942

Step 3: Test a Model on New Images

To give yourself more insight into how your model is working, download at least five pictures of German traffic signs from the web and use your model to predict the traffic sign type.

You may find signnames.csv useful as it contains mappings from the class id (integer) to the actual sign name.

Load and Output the Images

In [16]:
### Load the images and plot them here.
### Feel free to use as many code cells as needed.

import os
import cv2

%matplotlib inline

path = './new-signs/'

new_images_orig = []
new_images = []

filelist = sorted(os.listdir(path))
for file in filelist:
    try:
        img = cv2.imread(path+file, cv2.IMREAD_COLOR)
    except:
        img = None
    if img is not None:
        img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
        new_images_orig.append(img)
        img = cv2.resize(img, (32, 32), interpolation=cv2.INTER_CUBIC)
        new_images.append(img)

new_images = np.array(new_images)
new_images_preprocessed = pre_process_images(new_images)

# implot = plt.figure(figsize=(12,8))

print('New Images for testing:')
fig = plt.figure(figsize = (len(new_images), 1))
fig.subplots_adjust(hspace = 0, wspace = 0)
for i in range(len(new_images)):
    image = new_images[i]
    axis = fig.add_subplot(1,len(new_images), i+1, xticks=[], yticks=[])
    axis.imshow(image)

plt.show()

print('Pre-processed:')
fig = plt.figure(figsize = (len(new_images_preprocessed), 1))
fig.subplots_adjust(hspace = 0, wspace = 0)
for i in range(len(new_images_preprocessed)):
    image = new_images_preprocessed[i]
    axis = fig.add_subplot(1,len(new_images_preprocessed), i+1, xticks=[], yticks=[])
    axis.imshow(image.squeeze(), cmap='gray')

plt.show()
New Images for testing:
Pre-processed:

Predict the Sign Type for Each Image

In [17]:
### Run the predictions here and use the model to output the prediction for each image.
### Make sure to pre-process the images with the same pre-processing pipeline used earlier.
### Feel free to use as many code cells as needed.

# Test Model on new images
with tf.Session() as sess:
    new_saver = tf.train.import_meta_graph('tscnet.meta')
    new_saver.restore(sess, tf.train.latest_checkpoint('./'))
    
    out = sess.run(tf.argmax(logits, 1), feed_dict={x: new_images_preprocessed})

sign_names = pd.read_csv('./signnames.csv')
for i in range(len(new_images_orig)):
    plt.imshow(new_images_orig[i].squeeze())
    plt.show()
    print("{0}: {1}".format(out[i], sign_names.SignName[out[i]]))
11: Right-of-way at the next intersection
13: Yield
3: Speed limit (60km/h)
18: General caution
3: Speed limit (60km/h)

Analyze Performance

In [18]:
### Calculate the accuracy for these 5 new images. 
### For example, if the model predicted 1 out of 5 signs correctly, it's 20% accurate on these new images.
y_new_images = [11, 13, 3, 27, 14]

with tf.Session() as sess:
    new_saver = tf.train.import_meta_graph('tscnet.meta')
    new_saver.restore(sess, tf.train.latest_checkpoint('./'))
    
    new_images_accuracy = evaluate(new_images_preprocessed, y_new_images)
    print("New Images Accuracy = {:.3f}".format(new_images_accuracy))
New Images Accuracy = 0.600

Output Top 5 Softmax Probabilities For Each Image Found on the Web

For each of the new images, print out the model's softmax probabilities to show the certainty of the model's predictions (limit the output to the top 5 probabilities for each image). tf.nn.top_k could prove helpful here.

The example below demonstrates how tf.nn.top_k can be used to find the top k predictions for each image.

tf.nn.top_k will return the values and indices (class ids) of the top k predictions. So if k=3, for each sign, it'll return the 3 largest probabilities (out of a possible 43) and the correspoding class ids.

Take this numpy array as an example. The values in the array represent predictions. The array contains softmax probabilities for five candidate images with six possible classes. tf.nn.top_k is used to choose the three classes with the highest probability:

# (5, 6) array
a = np.array([[ 0.24879643,  0.07032244,  0.12641572,  0.34763842,  0.07893497,
         0.12789202],
       [ 0.28086119,  0.27569815,  0.08594638,  0.0178669 ,  0.18063401,
         0.15899337],
       [ 0.26076848,  0.23664738,  0.08020603,  0.07001922,  0.1134371 ,
         0.23892179],
       [ 0.11943333,  0.29198961,  0.02605103,  0.26234032,  0.1351348 ,
         0.16505091],
       [ 0.09561176,  0.34396535,  0.0643941 ,  0.16240774,  0.24206137,
         0.09155967]])

Running it through sess.run(tf.nn.top_k(tf.constant(a), k=3)) produces:

TopKV2(values=array([[ 0.34763842,  0.24879643,  0.12789202],
       [ 0.28086119,  0.27569815,  0.18063401],
       [ 0.26076848,  0.23892179,  0.23664738],
       [ 0.29198961,  0.26234032,  0.16505091],
       [ 0.34396535,  0.24206137,  0.16240774]]), indices=array([[3, 0, 5],
       [0, 1, 4],
       [0, 5, 1],
       [1, 3, 5],
       [1, 4, 3]], dtype=int32))

Looking just at the first row we get [ 0.34763842, 0.24879643, 0.12789202], you can confirm these are the 3 largest probabilities in a. You'll also notice [3, 0, 5] are the corresponding indices.

In [19]:
### Print out the top five softmax probabilities for the predictions on the German traffic sign images found on the web. 
### Feel free to use as many code cells as needed.

with tf.Session() as sess:
    new_saver = tf.train.import_meta_graph('tscnet.meta')
    new_saver.restore(sess, tf.train.latest_checkpoint('./'))
    
    out_prob = sess.run(tf.nn.top_k(tf.nn.softmax(logits), k=5), feed_dict={x: new_images_preprocessed})

sign_names = pd.read_csv('./signnames.csv')
for i in range(len(new_images_orig)):
    image = new_images_orig[i]
    plt.imshow(image.squeeze())
    plt.show()
    for j in range(5):
        print("{0}: {1}".format(sign_names.SignName[out_prob.indices[i][j]], out_prob.values[i][j]))
Right-of-way at the next intersection: 1.0
Double curve: 1.64935908583944e-27
Beware of ice/snow: 1.906662269546114e-32
Speed limit (20km/h): 0.0
Speed limit (30km/h): 0.0
Yield: 1.0
Speed limit (20km/h): 0.0
Speed limit (30km/h): 0.0
Speed limit (50km/h): 0.0
Speed limit (60km/h): 0.0
Speed limit (60km/h): 1.0
Speed limit (50km/h): 2.4345279833570616e-27
Speed limit (30km/h): 1.3638542114285587e-29
Speed limit (80km/h): 2.516955801266155e-37
Speed limit (20km/h): 0.0
General caution: 1.0
Children crossing: 2.4976792856179486e-10
Pedestrians: 5.833848951334496e-20
Go straight or right: 4.2743047227537744e-30
Right-of-way at the next intersection: 8.046355809662501e-32
Speed limit (60km/h): 0.996278703212738
Stop: 0.0037213056348264217
Speed limit (80km/h): 1.346445849779998e-12
Yield: 3.6636286452479405e-13
Turn left ahead: 2.418657993070311e-13

Project Writeup

Once you have completed the code implementation, document your results in a project writeup using this template as a guide. The writeup can be in a markdown or pdf file.

Note: Once you have completed all of the code implementations and successfully answered each question above, you may finalize your work by exporting the iPython Notebook as an HTML document. You can do this by using the menu above and navigating to \n", "File -> Download as -> HTML (.html). Include the finished document along with this notebook as your submission.


Step 4 (Optional): Visualize the Neural Network's State with Test Images

This Section is not required to complete but acts as an additional excersise for understaning the output of a neural network's weights. While neural networks can be a great learning device they are often referred to as a black box. We can understand what the weights of a neural network look like better by plotting their feature maps. After successfully training your neural network you can see what it's feature maps look like by plotting the output of the network's weight layers in response to a test stimuli image. From these plotted feature maps, it's possible to see what characteristics of an image the network finds interesting. For a sign, maybe the inner network feature maps react with high activation to the sign's boundary outline or to the contrast in the sign's painted symbol.

Provided for you below is the function code that allows you to get the visualization output of any tensorflow weight layer you want. The inputs to the function should be a stimuli image, one used during training or a new one you provided, and then the tensorflow variable name that represents the layer's state during the training process, for instance if you wanted to see what the LeNet lab's feature maps looked like for it's second convolutional layer you could enter conv2 as the tf_activation variable.

For an example of what feature map outputs look like, check out NVIDIA's results in their paper End-to-End Deep Learning for Self-Driving Cars in the section Visualization of internal CNN State. NVIDIA was able to show that their network's inner weights had high activations to road boundary lines by comparing feature maps from an image with a clear path to one without. Try experimenting with a similar test to show that your trained network's weights are looking for interesting features, whether it's looking at differences in feature maps from images with or without a sign, or even what feature maps look like in a trained network vs a completely untrained one on the same sign image.

Combined Image

Your output should look something like this (above)

In [20]:
### Visualize your network's feature maps here.
### Feel free to use as many code cells as needed.

# image_input: the test image being fed into the network to produce the feature maps
# tf_activation: should be a tf variable name used during your training procedure that represents the calculated state of a specific weight layer
# activation_min/max: can be used to view the activation contrast in more detail, by default matplot sets min and max to the actual min and max values of the output
# plt_num: used to plot out multiple different weight feature map sets on the same block, just extend the plt number for each new feature map entry

def outputFeatureMap(image_input, tf_activation, activation_min=-1, activation_max=-1 ,plt_num=1):
    # Here make sure to preprocess your image_input in a way your network expects
    # with size, normalization, ect if needed
    # image_input =
    # Note: x should be the same name as your network's tensorflow data placeholder variable
    # If you get an error tf_activation is not defined it may be having trouble accessing the variable from inside a function
    activation = tf_activation.eval(session=sess,feed_dict={x : image_input})
    featuremaps = activation.shape[3]
    plt.figure(plt_num, figsize=(15,15))
    for featuremap in range(featuremaps):
        plt.subplot(6,8, featuremap+1) # sets the number of feature maps to show on each row and column
        plt.title('FeatureMap ' + str(featuremap)) # displays the feature map number
        if activation_min != -1 & activation_max != -1:
            plt.imshow(activation[0,:,:, featuremap], interpolation="nearest", vmin =activation_min, vmax=activation_max, cmap="gray")
        elif activation_max != -1:
            plt.imshow(activation[0,:,:, featuremap], interpolation="nearest", vmax=activation_max, cmap="gray")
        elif activation_min !=-1:
            plt.imshow(activation[0,:,:, featuremap], interpolation="nearest", vmin=activation_min, cmap="gray")
        else:
            plt.imshow(activation[0,:,:, featuremap], interpolation="nearest", cmap="gray")